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Commit 90aa5914 authored by Andrey Filippov's avatar Andrey Filippov
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tweaking confidence, LMA,

parent 681a226e
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src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java
View file @ 90aa5914
......@@ -2603,7 +2603,8 @@ public class Corr2dLMA {
double lma_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
double lma_max_area, // maximal half-area (if > 0.0)
double lma_str_scale, // convert lma-generated strength to match previous ones - scale
double lma_str_offset // convert lma-generated strength to match previous ones - add to result
double lma_str_offset, // convert lma-generated strength to match previous ones - add to result
double lma_ac_offset // add to a,c coefficients for near-lines where A,C could become negative because of window
){
return lmaDisparityStrengths(
lmas_min_amp, // double lmas_min_amp_fg, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
......@@ -2615,7 +2616,8 @@ public class Corr2dLMA {
lma_max_area, // maximal half-area (if > 0.0)
lma_str_scale, // convert lma-generated strength to match previous ones - scale
lma_str_offset, // convert lma-generated strength to match previous ones - add to result
false // boolean dbg_mode
false, // boolean dbg_mode
lma_ac_offset // add to a,c coefficients for near-lines where A,C could become negative because of window
)[0];
}
......@@ -2625,19 +2627,22 @@ public class Corr2dLMA {
double lmas_min_amp_bg, // Same for bg correlation max (only used for multi-max)
double lma_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
double lma_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
double lma_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
double lma_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
double lma_min_max_ac, // maximal of A and C coefficients minimum (measures sharpest point/line)
double lma_min_min_ac, // minimal of A and C coefficients minimum
double lma_max_area, // maximal half-area (if > 0.0) // 20
double lma_str_scale, // convert lma-generated strength to match previous ones - scale
double lma_str_offset, // convert lma-generated strength to match previous ones - add to result
boolean dbg_mode
double lma_str_offset, // convert lma-generated strength to match previous ones - add to result
boolean dbg_mode,
double lma_ac_offset // add to a,c coefficients for near-lines where A,C could become negative because of window
){
double [][][] ds = new double[numMax][numTiles][dbg_mode? 6 : 3];
double [][][] ds = new double[numMax][numTiles][dbg_mode? 13 : 3];
double [] rms = getRmsTile();
for (int nmax = 0; nmax < numMax; nmax++) {
double [][] maxmin_amp = getMaxMinAmpTile(nmax); // nmax
double [][] abc = getABCTile(nmax); // nmax
for (int tile = 0; tile < numTiles; tile++) {
abc[tile][0] += lma_ac_offset;
abc[tile][2] += lma_ac_offset;
int offs = (tile * numMax + nmax) * tile_params;
ds[nmax][tile][0] = Double.NaN;
if (Double.isNaN(maxmin_amp[tile][0])) {
......@@ -2666,7 +2671,7 @@ public class Corr2dLMA {
if ((lma_max_rel_rms > 0.00) && (rrms > lma_max_rel_rms)) {
continue;
}
if (Math.max(abc[tile][0], abc[tile][2]) < lma_min_max_ac) {
if (Math.max(abc[tile][0], abc[tile][2]) < (lma_min_max_ac + lma_ac_offset)) { // so old lma_min_max_ac will stay
continue;
}
if ((lma_min_min_ac > 0.0) && ((abc[tile][0] < lma_min_min_ac) || (abc[tile][2] < lma_min_min_ac))){
......@@ -2691,14 +2696,22 @@ public class Corr2dLMA {
if (ac < 0) {
continue;
}
strength = Math.sqrt(strength * Math.sqrt(ac)); // / area ); // new strength
double strength1 = Math.sqrt(strength * Math.sqrt(ac)); // / area ); // new strength
ds[nmax][tile][0] = disparity;
ds[nmax][tile][1] = (strength * lma_str_scale) + lma_str_offset;
ds[nmax][tile][2] = strength; // as is
ds[nmax][tile][1] = (strength1 * lma_str_scale) + lma_str_offset;
ds[nmax][tile][2] = strength1; // as is
if (ds[nmax][tile].length > 3) {
ds[nmax][tile][3] = area;
ds[nmax][tile][4] = ac;
ds[nmax][tile][5] = Math.min(abc[tile][0],abc[tile][2]);
ds[nmax][tile][6] = Math.max(abc[tile][0],abc[tile][2]);
ds[nmax][tile][7] = abc[tile][0];
ds[nmax][tile][8] = abc[tile][2];
ds[nmax][tile][9] = abc[tile][1];
ds[nmax][tile][10] = strength;
ds[nmax][tile][11] = rrms;
ds[nmax][tile][12] = rms[tile];
}
}
}
......@@ -3053,7 +3066,7 @@ public class Corr2dLMA {
}
}
if (debug_level > 0) {
System.out.println("LMA: full RMS="+last_rms[0]+" ("+initial_rms[0]+"), pure RMS="+last_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
System.out.println("Corr2dLMA:LMA: full RMS="+last_rms[0]+" ("+initial_rms[0]+"), pure RMS="+last_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
}
return rslt[0];
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ 90aa5914
......@@ -2860,8 +2860,12 @@ public class ImageDtt extends ImageDttCPU {
// keep for now for mono, find out what do they mean for macro mode
final int corr_size = transform_size * 2 - 1;
final String[] debug_lma_titles_nobi = {"disp_samples","num_cnvx_samples","num_comb_samples", "num_lmas","num_iters","rms"};
final String[] debug_lma_titles_bi = {"disparity","strength_mod","strength", "area","ac","min(a,c)","max(a,c)","a","c","b","str1","rrms","rms"};
final String[] debug_lma_titles= imgdtt_params.bimax_dual_LMA? debug_lma_titles_bi:debug_lma_titles_nobi;
// final double [][] debug_lma = imgdtt_params.lmamask_dbg? (new double [6][tilesX*tilesY]):null;
final double [][] debug_lma = imgdtt_params.lmamask_dbg? (new double [debug_lma_titles.length][tilesX*tilesY]):null;
final double [][] debug_lma = imgdtt_params.lmamask_dbg? (new double [6][tilesX*tilesY]):null;
if (debug_lma != null) {
for (int i = 0; i < debug_lma.length; i++) {
Arrays.fill(debug_lma[i], Double.NaN);
......@@ -3026,7 +3030,8 @@ public class ImageDtt extends ImageDttCPU {
}
nTile = tileY * tilesX + tileX;
if (tp_tasks[iTile].getTask() == 0) continue; // nothing to do for this tile
boolean debugTile0 =(tileX == debug_tileX) && (tileY == debug_tileY) && (globalDebugLevel > 1); // 0);
boolean debugTile0 =(tileX == debug_tileX) && (tileY == debug_tileY) && (globalDebugLevel > 0); // 1);
debugTile0 |=(tileX == debug_tileX-1) && (tileY == debug_tileY) && (globalDebugLevel > 0); // 1);
boolean debugTile1 =(tileX == debug_tileX) && (tileY == debug_tileY) && (globalDebugLevel > -10);
if (debugTile0) {
System.out.println("clt_process_tl_correlations(): tileX="+tileX+", tileY="+tileY+", iTile="+iTile+", nTile="+nTile);
......@@ -3161,7 +3166,9 @@ public class ImageDtt extends ImageDttCPU {
double [][] maxes = correlation2d.getDoublePoly(
disparity_scale, // double disparity_scale,
((corr_dia_tile != null) ? corr_dia_tile : corr_combo_tile), // double [] combo_corrs,
imgdtt_params.mcorr_dual_fract); //double min_fraction
imgdtt_params.mcorr_dual_fract, //double min_fraction
imgdtt_params.mcorr_dual_min_max, // double min_max, // = 0.2; // Minimal absolute strength of the strongest in a dual-max to consider second one
imgdtt_params.mcorr_dual_min_min); // double min_min); // = 0.08; // Minimal absolute strength of a weakest in a dual-max to consider second one
if ((disparity_map != null) && (disparity_map[DISPARITY_VARIATIONS_INDEX] != null)) {
disparity_map[DISPARITY_VARIATIONS_INDEX ][nTile] = maxes.length;
}
......@@ -3234,12 +3241,13 @@ public class ImageDtt extends ImageDttCPU {
imgdtt_params.lmas_min_amp_bg, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
dbg_dispStrs // false // boolean dbg_mode
dbg_dispStrs, // false // boolean dbg_mode
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
);
disp_str_lma = new double [dispStrs.length][]; // order matching input ones
for (int nmax = 0;nmax < dispStrs.length; nmax++) {
......@@ -3360,11 +3368,12 @@ public class ImageDtt extends ImageDttCPU {
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // maximal of A and C coefficients minimum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
);
if (ds != null) { // always true
// if (disparity_map!=null) {
......@@ -3425,7 +3434,7 @@ public class ImageDtt extends ImageDttCPU {
tilesY,
true,
"lma_debug_dual_LMA",
new String[] {"disparity","strength_mod","strength", "area","ac","min(a,c)"}
debug_lma_titles
);
} else {
(new ShowDoubleFloatArrays()).showArrays(
......@@ -3434,7 +3443,7 @@ public class ImageDtt extends ImageDttCPU {
tilesY,
true,
"lma_debug",
new String[] {"disp_samples","num_cnvx_samples","num_comb_samples", "num_lmas","num_iters","rms"}
debug_lma_titles
);
}
......@@ -4815,11 +4824,12 @@ public class ImageDtt extends ImageDttCPU {
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, // double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
)[0];
if (tile_lma_debug_level > 0) {
double [][] ds_dbg = {disp_str};
......@@ -5112,11 +5122,12 @@ public class ImageDtt extends ImageDttCPU {
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, // double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
)[0];
if (tile_lma_debug_level > 0) {
double [][] ds_dbg = {disp_str};
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttCPU.java
View file @ 90aa5914
......@@ -2237,11 +2237,12 @@ public class ImageDttCPU {
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, // double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
)[0];
if ((disp_str[cTile]!=null) && Double.isNaN(disp_str[cTile][1])) {
System.out.println();
......@@ -2424,7 +2425,8 @@ public class ImageDttCPU {
imgdtt_params.lma_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lma_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
1.0, // imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
0.0); // imgdtt_params.lma_str_offset); // convert lma-generated strength to match previous ones - add to result
0.0, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset); // Add to A, C coefficients for near-lines where A,C could become negative because of window
// double [][] extra_stats = lma2.getTileStats();
if (debugCluster) {
......@@ -3157,11 +3159,12 @@ public class ImageDttCPU {
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
);
if (ds != null) { // always true
disparity_map[DISPARITY_INDEX_POLY][tIndex] = ds[0][0];
......@@ -4262,11 +4265,12 @@ public class ImageDttCPU {
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
);
if (ds != null) { // always true
disp_lma[nTile] = ds[0][0];
......@@ -5182,11 +5186,12 @@ public class ImageDttCPU {
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
);
if (ds != null) { // always true
disparity_map[DISPARITY_INDEX_POLY][nTileC] = ds[0][0];
......@@ -15608,11 +15613,12 @@ public class ImageDttCPU {
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
);
lma2.printStats(ds,1);
}
......@@ -16618,11 +16624,12 @@ public class ImageDttCPU {
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
imgdtt_params.lma_ac_offset // Add to A, C coefficients for near-lines where A,C could become negative because of window
);
if (ds != null) { // always true
if (disparity_map!=null) {
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ 90aa5914
......@@ -122,6 +122,120 @@ public class QuadCLT extends QuadCLTCPU {
}
}
/**
* Remove weak non-LMA tiles if they do not have any LMA or strong neighbors and
* too few weak neighbors. Single strong neighbor within range is enough, strong/LMA
* that are not within range are still counted towards total "good" neighbors. For
* example, weak tiles of the sky just above strong sky-line will survive if the
* number of similar weak neighbor tiles representing clouds plus number of sky-line
* tiles is sufficient. Range may be somewhat wider than that for stronger tiles.
* Strong neibs with lower disparity count as weak ones (towards number of good neibs).
* There should be at least one "near".
*
* @param dls {disparity, lma_disparity, strength} - not to be modified
* @param strong strength to be considered non weak
* @param weak strength to be considered weak, below - just delete (may be 0 if not used)
* @param min_neibs minimal number of neighbors (of 8) to survive
* @param tolerance_absolute - absolute tolerance
* @param tolerance_relative
* @param width
* @param max_iter
* @param threadsMax
* @param debug_level
* @return updated disparity with some tiles replaced with Double.NaN
*/
public static double [] removeFewWeak(
final double [][] dls,
final double strong,
final double weak,
final int min_neibs,
final double tolerance_absolute,
final double tolerance_relative,
final int width,
final int max_iter,
final int threadsMax,
final int debug_level)
{
final int tiles = dls[0].length;
final double [] disparity = dls[0].clone();
final double [] disparity_out = dls[0].clone();
final double [] disparity_lma = dls[1].clone();
final double [] strength = dls[2]; // will not be updated
final TileNeibs tn = new TileNeibs(width, tiles/width);
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final AtomicInteger anum_updated = new AtomicInteger(0);
final int dbg_tile = 2512;
for (int iter = 0; iter < max_iter; iter++) {
ai.set(0);
anum_updated.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {
if ((debug_level >0) && (nTile == dbg_tile)) {
System.out.println("removeFewWeak():removeDisparityOutliers() nTile="+nTile);
}
if ( !Double.isNaN(disparity[nTile]) &&
Double.isNaN(disparity_lma[nTile]) && // is not lma
(strength[nTile] < strong)) { // weak
if (strength[nTile] < weak) {
disparity_out[nTile] = Double.NaN;
anum_updated.getAndIncrement();
continue;
}
double tolerance = tolerance_absolute + ((disparity[nTile]>0)? disparity[nTile]*tolerance_relative:0);
double lim_max = disparity[nTile] + tolerance;
double lim_min = disparity[nTile] - tolerance;
int num_goog_neibs = 0; // strong or close
int num_near = 0;
boolean keep = false;
for (int dir = 0; dir < 8; dir++) {
int ineib = tn.getNeibIndex(nTile, dir);
if ((ineib >= 0) && !Double.isNaN(disparity[ineib])) {
boolean near = (disparity[ineib] >= lim_min) && (disparity[ineib] <= lim_max);
boolean is_strong = !Double.isNaN(disparity_lma[ineib]) ||
(strength[ineib] >= strong);
// Strong and near only counts for strong in FG (nearer), far ones same as weak
if (near && is_strong && (disparity[ineib] >= disparity[nTile])) {
keep = true;
break;
}
if (near || is_strong) {
num_goog_neibs++;
if (near) num_near++;
if ((num_goog_neibs >= min_neibs) && (num_near > 0)) {
keep = true;
break;
}
}
}
}
if (!keep) {
disparity_out[nTile] = Double.NaN;
anum_updated.getAndIncrement();
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
if (anum_updated.get() ==0) {
break;
}
System.arraycopy(disparity_out,0,disparity,0,tiles);
}
return disparity_out;
}
public static double [] removeDisparityLMAOutliers( // just LMA FG
final boolean non_lma,
......@@ -144,7 +258,7 @@ public class QuadCLT extends QuadCLTCPU {
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final AtomicInteger anum_updated = new AtomicInteger(0);
final int dbg_tile = 989;
final int dbg_tile = 2997;
for (int iter = 0; iter < max_iter; iter++) {
ai.set(0);
anum_updated.set(0);
......@@ -157,7 +271,7 @@ public class QuadCLT extends QuadCLTCPU {
System.out.println("removeDisparityOutliers() nTile="+nTile);
}
if ( !Double.isNaN(disparity[nTile]) &&
(!Double.isNaN(disparity_lma[nTile]) ^ non_lma) &&
(!Double.isNaN(disparity_lma[nTile]) ^ non_lma) && // is_lma
(strength[nTile] < max_strength)) { // weak LMA
Arrays.fill(neibs, Double.NaN);
for (int dir = 0; dir < 8; dir++) {
......@@ -395,12 +509,13 @@ public class QuadCLT extends QuadCLTCPU {
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final AtomicInteger anum_gaps = new AtomicInteger(0);
final int dbg_tile = 2191;
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {
if (ds[0][nTile] < min_disparity) {
ds[0][nTile] = min_disparity;
ds[0][nTile] = Double.NaN; // min_disparity;
}
if (Double.isNaN(ds[0][nTile]) || (ds[1][nTile] <= 0)) {
ds[0][nTile] = Double.NaN;
......@@ -432,14 +547,23 @@ public class QuadCLT extends QuadCLTCPU {
double [] neibs_sorted = new double[8];
for (int indx = ai.getAndIncrement(); indx < num_gaps; indx = ai.getAndIncrement()) {
int nTile = tile_indices[indx];
if ((debug_level >0) && (nTile == dbg_tile)) {
System.out.println("fillDisparityStrength() nTile="+nTile);
}
if (!fill_all[0] && !Double.isNaN(ds[0][nTile])) {
continue; // fill only new
}
Arrays.fill(neibs, Double.NaN);
double swd = 0.0, sw = 0.0;
for (int dir = 0; dir < 8; dir++) {
int nt_neib = tn.getNeibIndex(nTile, dir);
if (nt_neib >= 0) {
neibs[dir] = ds[0][nt_neib];
if (! Double.isNaN(neibs[dir])) {
sw += neibw[dir];
swd += neibw[dir] * neibs[dir];
}
}
}
System.arraycopy(neibs, 0, neibs_sorted, 0, 8);
......@@ -447,14 +571,17 @@ public class QuadCLT extends QuadCLTCPU {
if (Double.isNaN(neibs_sorted[min_defined - 1])) {
continue; // too few defined neighbors
}
swd /= sw; // here = not zero;
if (!fill_all[0]) {
anum_gaps.getAndIncrement();
}
double max_disp = neibs_sorted[num_bottom - 1];
if (!(ds[0][nTile] > max_sym_disparity)){
max_disp = Double.NaN;
// if (!(ds[0][nTile] > max_sym_disparity)){
if (!(swd > max_sym_disparity)){ // here compare to average, not this!
max_disp = Double.NaN; // so it will average all
}
double swd = 0.0, sw = 0.0;
swd = 0.0;
sw = 0.0;
for (int dir = 0; dir < 8; dir++) {
if (!Double.isNaN(neibs[dir]) && !(neibs[dir] > max_disp)) { // handles NaNs
sw += neibw[dir];
......@@ -486,6 +613,11 @@ public class QuadCLT extends QuadCLTCPU {
break;
}
fill_all[0] = anum_gaps.get() == 0; // no new tiles filled
if (npass == (num_passes-1)){
System.out.println("fillDisparityStrength() LAST PASS ! npass="+npass+", change="+Math.sqrt(amax_diff.get())+" ("+max_change+")");
System.out.println("fillDisparityStrength() LAST PASS ! npass="+npass+", change="+Math.sqrt(amax_diff.get())+" ("+max_change+")");
System.out.println("fillDisparityStrength() LAST PASS ! npass="+npass+", change="+Math.sqrt(amax_diff.get())+" ("+max_change+")");
}
} // for (int npass = 0; npass < num_passes; npass+= fill_all[0]? 1:0 )
return ds;
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ 90aa5914
......@@ -172,8 +172,10 @@ public class QuadCLTCPU {
public void inc_accum() {num_accum++;}
public void set_orient(int num) {num_orient = num;}
public void set_accum (int num) {num_accum = num;}
public int getNumOrient() {return num_orient;}
public int getNumAccum() {return num_accum;}
public int getNumOrient() {
return num_orient;}
public int getNumAccum() {
return num_accum;}
public int getEarliestScene(
QuadCLT [] scenes) {
......@@ -1241,6 +1243,7 @@ public class QuadCLTCPU {
public String saveAVIInModelDirectory(
boolean dry_run,
String suffix, // null - use title from the imp
int mode_avi,
int avi_JPEG_quality,
......@@ -1258,12 +1261,16 @@ public class QuadCLTCPU {
}
file_path += ".avi";
imp.getCalibration().fps = fps;
(new AVI_Writer()).writeImage (
imp, // ImagePlus imp,
file_path, // String path,
mode_avi, // int compression,
avi_JPEG_quality); //int jpegQuality)
System.out.println("saveAVIInModelDirectory(): saved "+file_path);
if (dry_run) {
System.out.println("saveAVIInModelDirectory(): simulated writing "+file_path);
} else {
(new AVI_Writer()).writeImage (
imp, // ImagePlus imp,
file_path, // String path,
mode_avi, // int compression,
avi_JPEG_quality); //int jpegQuality)
System.out.println("saveAVIInModelDirectory(): saved "+file_path);
}
return file_path;
}
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 90aa5914
......@@ -8579,8 +8579,14 @@ if (debugLevel > -100) return true; // temporarily !
final boolean updateStatus,
final int debugLevel) throws Exception
{
int stereo_gap = clt_parameters.imp.stereo_gap;
double stereo_intereye = clt_parameters.imp.stereo_intereye;
double stereo_phone_width = clt_parameters.imp.stereo_phone_width; // 0 - no padding
boolean stereo_pad = (stereo_intereye > 0) && (stereo_phone_width > 0);
int video_crf = clt_parameters.imp.video_crf;
String video_codec = clt_parameters.imp.video_codec.toLowerCase();
long start_time_all = System.nanoTime();
OpticalFlow opticalFlow = new OpticalFlow(
quadCLT_main.getNumSensors(),
......@@ -8597,7 +8603,8 @@ if (debugLevel > -100) return true; // temporarily !
num_seq = pathFirstLast.length;
}
}
String [][] video_lists = new String [num_seq][];
String [][] video_lists = new String [num_seq][];
int [][] stereo_widths = new int [num_seq][];
for (int nseq = 0; nseq < num_seq; nseq++) {
long start_time_seq = System.nanoTime();
System.out.println("\nSTARTED PROCESSING SCENE SEQUENCE "+nseq+" (last is "+(num_seq-1)+")");
......@@ -8609,6 +8616,7 @@ if (debugLevel > -100) return true; // temporarily !
pathFirstLast[nseq].last); // int scene_last); // last scene to process (negative - add length
}
String [][] video_list = new String[1][];
int [][] widths_list = new int [1][];
String model_directory = opticalFlow.buildSeries(
(pathFirstLast != null), //boolean batch_mode,
quadCLT_main, // QuadCLT quadCLT_main, // tiles should be set
......@@ -8623,10 +8631,12 @@ if (debugLevel > -100) return true; // temporarily !
properties, // Properties properties,
reset_from_extrinsics, // boolean reset_from_extrinsics,
video_list, // String [][] video_list, // null or list of generated avi or webm paths
widths_list,
threadsMax, // final int threadsMax, // maximal number of threads to launch
updateStatus, // final boolean updateStatus,
debugLevel+2); // final int debugLevel)
video_lists[nseq] = video_list[0];
stereo_widths[nseq] = widths_list[0];
System.out.println("PROCESSING SCENE SEQUENCE "+nseq+" (last is "+(num_seq-1)+") is FINISHED in "+
IJ.d2s(0.000000001*(System.nanoTime()-start_time_seq),3)+" sec ("+
IJ.d2s(0.000000001*(System.nanoTime()-start_time_all),3)+" sec from the overall start");
......@@ -8647,7 +8657,6 @@ if (debugLevel > -100) return true; // temporarily !
}
// combine videos if generated
if ((video_lists.length > 1) && (video_lists[0] != null) && (video_lists[0].length > 1)) { // do not combine if single sequence or no videos
String concat_list_name="concat.list";
concat_videos: {
System.out.println("Generating "+(video_lists[0].length)+" combined video files.");
String videoDirectory = quadCLT_main.correctionsParameters.selectVideoDirectory(true,true);
......@@ -8655,7 +8664,7 @@ if (debugLevel > -100) return true; // temporarily !
break concat_videos;
}
File video_dir = new File (videoDirectory);
video_dir.mkdirs(); // SHould already exist actually
video_dir.mkdirs(); // Should already exist actually
for (int nvideo = 0; nvideo < video_lists[0].length; nvideo++) {
// get name with <ts_sec_first>-<ts_sec_last>
// String spath0 = video_lists[0][nvideo];
......@@ -8664,7 +8673,8 @@ if (debugLevel > -100) return true; // temporarily !
String ts_sec0=name0.substring(0,name0.indexOf("_")); // seconds of the first timestamp
String ts_sec1=name1.substring(0,name1.indexOf("_")); // seconds of the last timestamp
String suffix0 = name0.substring(name0.indexOf("-")); // Skip timestamp
String combo_video_name = ts_sec0+"-"+ts_sec1+suffix0;
String combo_video_name = ts_sec0+"-"+ts_sec1+suffix0;
String concat_list_name = combo_video_name.substring(0, combo_video_name.lastIndexOf("."))+".list";
File list_to_concat = new File (video_dir,concat_list_name);
// delete if exists
if (list_to_concat.exists()) {
......@@ -8672,22 +8682,49 @@ if (debugLevel > -100) return true; // temporarily !
}
PrintWriter writer = new PrintWriter(list_to_concat, "UTF-8");
int this_stereo_width = 0;
int num_segments=0;
for (int i = 0; i <video_lists.length; i++) {
if ((video_lists[i] != null) && (video_lists[i].length > nvideo)) {
writer.println("file '"+video_lists[i][nvideo]+"'");
if ((new File(video_lists[i][nvideo])).exists()) {
writer.println("file '"+video_lists[i][nvideo]+"'");
if (stereo_pad) {
this_stereo_width = stereo_widths[i][nvideo];
}
num_segments++;
} else {
System.out.println("Missing video segment: "+video_lists[i][nvideo]);
}
} else {
System.out.println("Specific video segment "+i+":"+nvideo+" is missing, skipping");
}
}
writer.close();
if (num_segments == 0) {
System.out.println("No segments found for "+combo_video_name);
continue;
}
if (this_stereo_width > 0) {
String combo_base = combo_video_name.substring(0,combo_video_name.lastIndexOf(".")) ;
String combo_ext = combo_video_name.substring(combo_video_name.lastIndexOf(".")) ;
combo_video_name = combo_base+"-"+stereo_phone_width+"mm"+combo_ext;
}
File video_out = new File (video_dir,combo_video_name);
if (video_out.exists()) {
video_out.delete();
}
double pts_scale = clt_parameters.imp.video_fps/clt_parameters.imp.sensor_fps;
String shellCommand = String.format("ffmpeg -y -f concat -safe 0 -i %s -r 60 -vf setpts=%f*PTS %s",
list_to_concat.toString(), pts_scale,video_out.toString());
String shellCommand;
if (this_stereo_width > 0) {// add padding to stereo video
int padded_width= 16* ( (int) Math.round((this_stereo_width + stereo_gap) * stereo_phone_width/stereo_intereye/32));
shellCommand = String.format(
"ffmpeg -y -f concat -safe 0 -i %s -r 60 -vf pad=width=%d:height=0:x=-1:y=-1:color=black,setpts=%f*PTS -b:v 0 -crf %d -c %s %s",
list_to_concat.toString(), padded_width, pts_scale, video_crf, video_codec, video_out.toString());
} else {
shellCommand = String.format("ffmpeg -y -f concat -safe 0 -i %s -r 60 -vf setpts=%f*PTS -b:v 0 -crf %d -c %s %s",
list_to_concat.toString(), pts_scale, video_crf, video_codec, video_out.toString());
}
Process p = null;
int exit_code = -1;
......
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